polymath_kinematics_python_tools

polymath_kinematics_python_tools

The Kinematic Explorer — a Streamlit app for visualising trajectory lattices, kinematic relationships, and vehicle footprints, built on the polymath_kinematics bindings. Trajectories come from the C++ projectors, integrated with Euler at the configured time step.

Pure Python, managed with uv. Not a ROS 2 package.

Install and run

Needs Python 3.10+, uv, and — because polymath_kinematics builds from source — a C++17 compiler and CMake 3.15+.

uv sync                      # from the repository root
uv run kinematic-explorer    # extra arguments are forwarded to streamlit

The app opens at http://localhost:8501. It binds to localhost; pass --server.address=0.0.0.0 to serve over the network.

Tests

uv run pytest polymath_kinematics_python_tools/test/test_explorer.py